Energy storage device and exoskeleton seat thereof

Abstract

The application discloses an energy storage device and an exoskeleton seat thereof. The energy storage device is characterized in that an energy storage part is arranged inside an energy storage shell, and the other end of the energy storage part is fixedly connected to the outer wall of the energy storage shell. The energy storage shell is sleeved on the outer wall of a fixed shaft, a ratchet wheel is driven and connected to the outer wall of the energy storage shell through a pawl, and the ratchet wheel is fixedly connected to the outer wall of a cam ring on one side. A limiting groove is formed in the outer wall of the cam ring, and the limiting groove is connected to the inner wall of a fixed shell through a one-way limiting part. The exoskeleton seat is characterized in that the outer wall of a waist fixing part is fixedly connected to the energy storage device, and the action rope of the energy storage device is fixedly connected to a thigh fixing part. The energy required for the human body to change the STS action is large in the prior art, especially for people with heavy weight. The energy storage device and the exoskeleton seat thereof can reduce the energy required for the human body to change the STS action by assisting the rotation of the hip joint, avoid the damage of the lower back of the worker, reduce the risk of suffering from muscle and bone related diseases, and provide assistance for the hip joint during the sitting-up movement.

Description

Technical Field

[0001] This invention relates to the field of structural design technology for human exoskeleton energy storage devices, and in particular to an energy storage device and its exoskeleton seat. Background Technology

[0002] With increasing societal awareness of musculoskeletal disorders, wearable exoskeleton technology has become widely adopted. Traditional powered exoskeletons suffer from high costs, heavy weight, and limited battery life. During exercise, the human body consumes a significant amount of metabolic energy, some of which is converted into mechanical energy, while the remainder is converted into heat and other forms of energy. Simultaneously, exercise generates excessive metabolic waste products; prolonged insufficient energy supply and the accumulation of metabolic waste can lead to muscle fiber damage. By utilizing the mechanical energy generated by positive movement to reduce the mechanical energy required for negative movement, thereby reducing metabolic energy consumption, muscle fatigue can be effectively alleviated, and the risk of musculoskeletal disorders can be lowered.

[0003] Therefore, a power-assisted exoskeleton seat without a power source was chosen as the research object, and the mechanical energy generated during human hip joint movement was collected. Innovative designs were made to the appearance, structure, energy storage mechanism, and energy harvesting method to effectively reduce the energy consumed during the transition from standing to sitting and back to standing (STS) and provide assistance, supporting workers during their work process and helping those with potential lumbar muscle strain avoid risks.

[0004] In existing technologies, especially for people who carry heavy loads, the energy required for STS (Strain-Side Transition) movements is relatively large. For example, if a worker suffers a lower back injury, the risk of developing musculoskeletal diseases is very high. Summary of the Invention

[0005] In view of this, the main objective of the present invention is to provide an energy storage device and its exoskeleton seat that reduces the energy required for human STS movement transitions, avoids lower back injuries in workers, and reduces the risk of musculoskeletal diseases.

[0006] To achieve the above objectives, the technical solution of the present invention is implemented as follows:

[0007] An energy storage device includes: a fixed shell, a cam ring, a ratchet, an energy storage shell, and an energy storage element;

[0008] A fixed shaft is fixedly connected to the center of the fixed shell, one end of the energy storage device is fixedly connected to the outer wall of the fixed shaft, the energy storage device is disposed inside the energy storage shell, and the other end of the energy storage device is fixedly connected to the outer wall of the energy storage shell.

[0009] In a preferred embodiment, the energy storage shell is sleeved on the outer wall of the fixed shaft, and the ratchet is driven by a pawl on the outer wall of the energy storage shell. The cam ring is fixedly connected to one side of the ratchet.

[0010] In a preferred embodiment, a limiting groove is formed on the outer wall of the cam ring, and the limiting groove is connected to the inner wall of the fixed shell through a one-way limiting member.

[0011] In a preferred embodiment, the limiting groove includes: a first limiting groove, a second limiting groove, a third limiting groove, and a fourth limiting groove. The first limiting groove is located at the 12 o'clock position of the cam ring, the second limiting groove is located at the midpoint between the 12 o'clock and 9 o'clock positions of the cam ring, the third limiting groove is located at the 6 o'clock position of the cam ring, and the fourth limiting groove is located at the midpoint between the 3 o'clock and 6 o'clock positions of the cam ring.

[0012] In a preferred embodiment, the energy storage shell includes: a shell bottom, a shell wall, and a shell cover. The shell bottom is sleeved on the outer wall of the fixed shaft, the edge of the shell bottom is fixedly connected to the annular shell wall, and the other end of the shell wall is fixedly connected to the shell cover.

[0013] In a preferred embodiment, a limiting ridge protrudes from the other side of the shell cover;

[0014] In a preferred embodiment, the inner wall of the cam ring is provided with a first one-way boss and a second one-way boss. The first one-way boss is formed in the second limiting groove corresponding to the inner wall of the cam ring, and the second one-way boss is formed in the fourth limiting groove corresponding to the inner wall of the cam ring.

[0015] In a preferred embodiment, the fixing shell includes: a connecting shell and an end cap, wherein the fixing shaft is fixedly connected to the center of the connecting shell, and the open end of the connecting shell is sealed and fixed by the end cap;

[0016] In a preferred embodiment, the end cap protrudes from the inner wall surface and is slidably connected to a limiting slider. The bottom of the limiting slider is engaged with the first one-way boss and the second one-way boss to push and slide. The first one-way boss or the second one-way boss pushes up the limiting slider to limit the limiting protrusion.

[0017] In a preferred embodiment, the outer wall of the shell is provided with a limiting wall, and a compression spring groove is provided between two adjacent limiting walls. A compression spring rod is connected to the center of the compression spring groove, and a compression spring is sleeved on the outer wall of the compression spring rod. A pawl is supported and connected to the lower end of the compression spring.

[0018] In a preferred embodiment, the pawl includes: a pawl body and guide protrusions, wherein the guide protrusions are respectively provided on both sides of the pawl body along the circumferential direction of the shell wall;

[0019] In a preferred embodiment, a guide groove is provided in the middle of the limiting wall, and the guide protrusion is inserted into the guide groove.

[0020] In a preferred embodiment, the device further includes a torsion spring, wherein a connecting protrusion is provided on the outer wall of the shell; one end of the torsion spring is limited and connected to the connecting protrusion, and the other end of the torsion spring is inserted into the inner wall of the end cap.

[0021] In a preferred embodiment, the end cap protrudes from the inner wall and is provided with a slide rail, the limiting slider is slidably connected inside the slide rail, and the lower end of the limiting slider extends out of the slide rail.

[0022] In a preferred embodiment, the end cap has a pivot hole at its center, a torsion spring groove is formed around the pivot hole, a connecting groove is formed in the tangential direction of the torsion spring groove, the torsion spring is sleeved inside the torsion spring groove, and one end of the torsion spring extends into the connecting groove for fixation.

[0023] In a preferred embodiment, the limiting protrusion includes a limiting ring and a limiting ridge. The limiting ring protrudes from the central opening of the shell cover, and the limiting ridge protrudes from the outer wall of the limiting ring. The limiting ridge and the shell cover are fixedly connected.

[0024] In a preferred embodiment, a positioning groove is provided on the inner wall of the connecting shell, and a positioning rod is protruding from the center of the positioning groove;

[0025] In a preferred embodiment, the one-way limiting member includes a positioning block and a positioning spring. The positioning spring is sleeved on the outer wall of the positioning rod, and the upper end of the positioning spring supports the positioning block. The upper side of the positioning block is limitedly connected to the first limiting groove, the second limiting groove, the third limiting groove, or the fourth limiting groove.

[0026] In a preferred embodiment, it further includes: an action rope, wherein a winding wheel is provided on the side of the shell bottom away from the shell wall, and the action rope passes through the fixed shell and is wound around the outer wall of the winding wheel.

[0027] An exoskeleton seat includes the aforementioned energy storage device, and further includes: a lumbar fixation member and a thigh fixation member, wherein the energy storage device is fixedly connected to the outer wall of the lumbar fixation member, and the energy storage device's action rope extends out of the fixing shell and is fixedly connected to the thigh fixation member;

[0028] It also includes: a calf fixation member, the upper side of which is hinged to the thigh fixation member.

[0029] The energy storage device and exoskeleton seat of the present invention have the following beneficial effects:

[0030] The energy storage device has a fixed shaft fixedly connected to the center of the fixed shell. One end of the energy storage component is fixedly connected to the outer wall of the fixed shaft. The energy storage component is located inside the energy storage shell, and the other end of the energy storage component is fixedly connected to the outer wall of the energy storage shell. The energy storage shell is fitted onto the outer wall of the fixed shaft. A ratchet is driven by a pawl and connected to a ratchet on the outer wall of the energy storage shell. A cam ring is fixedly connected to one side of the ratchet. A limiting groove is formed on the outer wall of the cam ring, and the limiting groove is connected to the inner wall of the fixed shell through a one-way limiting component. In this exoskeleton seat, the energy storage device is fixedly connected to the outer wall of the lumbar fixation component. The action rope of the energy storage device extends out of the fixed shell and is fixedly connected to the thigh fixation component. The thigh fixation component is hinged to the upper side of the calf fixation component.

[0031] This addresses the issue that existing technologies, especially for individuals carrying heavy loads, require significant energy for STS (Strain-to-Spine) movement transitions, which can lead to lower back injuries and a high risk of musculoskeletal disorders in workers.

[0032] This energy storage device and its exoskeleton seat reduce the energy required for STS (Seated-Sit-to-Rise) movements by assisting hip joint rotation, preventing lower back injuries and lowering the risk of musculoskeletal disorders. It also provides hip joint assistance during sit-to-stand movements. Worn on the lower back and back of the thighs, the device uses hip joint rotation to pull a rope, causing a ratchet and pawl mechanism to rotate and tighten a spiral spring, collecting the mechanical energy generated during STS movements. This energy is then converted into elastic potential energy for storage and utilization. In a seated position, the device supports the body, and the assist mechanism is locked, preventing additional force on the body. During standing, the mechanism unlocks, assisting the body to stand, reducing energy consumption and muscle strain. The device utilizes rope transmission, offering good flexibility and a good fit to the body. The spring-powered energy storage assist mechanism is simple, compact, easy to use, and highly practical. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 This is a structural schematic diagram of an exoskeleton seat according to an embodiment of the present disclosure;

[0035] Figure 2 This is a schematic diagram of the structure of an energy storage device according to one embodiment of the present disclosure;

[0036] Figure 3 This is a schematic diagram of the internal structure of an energy storage device according to one embodiment of the present disclosure;

[0037] Figure 4 This is a schematic diagram of the connecting shell of an energy storage device according to one embodiment of the present disclosure;

[0038] Figure 5 This is a schematic diagram of the structure of the end cap of an energy storage device according to one embodiment of the present disclosure;

[0039] Figure 6 This is a schematic diagram of the cam ring and ratchet of the energy storage device;

[0040] Figure 7 This is a schematic diagram of the structure of the cam ring of an energy storage device according to one embodiment of the present disclosure;

[0041] Figure 8 A cross-sectional view of the cam ring of an energy storage device according to one embodiment of the present disclosure;

[0042] Figure 9 This is a schematic diagram of the structure of the energy storage shell of an energy storage device according to one embodiment of the present disclosure;

[0043] Figure 10 for Figure 9 The diagram shown is a structural schematic of an energy storage device according to an embodiment of the present disclosure when the energy storage shell is connected to a compression spring.

[0044] Figure 11 A schematic diagram of the shell cover structure of the energy storage device;

[0045] Figure 12 A schematic diagram of the unidirectional limiting component structure for the energy storage shell of an energy storage device;

[0046] Figure 13 A schematic diagram of the pawl structure of the energy storage shell of the energy storage device;

[0047] Figure 14 An exploded view of an energy storage device according to one embodiment of this disclosure;

[0048] Figure 15 This is a cross-sectional view of an energy storage device according to one embodiment of the present disclosure;

[0049] Figure 16 This is a schematic diagram of the structure of an energy storage device according to an embodiment of the present disclosure, showing the human body with the upright torso and thighs in a straight line.

[0050] Figure 17 This is a schematic diagram of the structure of an energy storage device according to an embodiment of the present disclosure, showing a human body bending forward to the minimum angle between the torso and thighs before sitting down.

[0051] Figure 18This is a schematic diagram of the structure of an energy storage device according to an embodiment of the present disclosure, showing the torso and thighs in a seated position.

[0052] Figure 19 This is a schematic diagram of the structure of an energy storage device according to an embodiment of the present disclosure, showing a human body bending over to the minimum angle between the torso and thighs before standing up.

[0053] Figure 20 This is a structural diagram of an exoskeleton seat in a sitting position according to an embodiment of the present disclosure.

[0054] [Explanation of Key Component Symbols]

[0055] 01. Energy storage device; 02. Action rope; 03. Waist fixation device; 04. Thigh fixation device;

[0056] 05. Lower leg fixation device;

[0057] 1. Fixed housing; 11. Connecting housing; 12. End cap; 13. Limiting slider; 14. Slide rail; 15. Rotary shaft hole; 16. Torsion spring groove; 17. Connecting groove; 18. Positioning groove; 19. Positioning rod;

[0058] 2. Cam ring; 21. First one-way boss; 22. Second one-way boss;

[0059] 3. Ratchet; 4. Energy storage shell; 41. Shell bottom; 42. Shell wall; 43. Shell cover;

[0060] 44. Limiting protrusion; 45. Connecting protrusion; 46. Winding wheel;

[0061] 441. Limiting ring; 442. Limiting edge;

[0062] 5. Energy storage component; 6. Fixed shaft;

[0063] 7. Pawl; 71. Limiting wall; 72. Compression spring groove; 73. Compression spring rod; 74. Compression spring;

[0064] 75. Pawl body; 76. Guide protrusion; 77. Guide groove;

[0065] 8. Limiting groove;

[0066] 81. First limiting groove; 82. Second limiting groove; 83. Third limiting groove; 84. Fourth limiting groove;

[0067] 9. One-way limiting component; 91. Positioning block; 92. Positioning spring;

[0068] 10. Torsion spring. Detailed Implementation

[0069] The energy storage device and its exoskeleton seat of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0070] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0071] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0072] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0073] like Figures 1-20 As shown, the energy storage device includes: a fixed shell 1 that is fixedly connected to the user's waist; a cam ring 2 that controls the rotation angle of the energy storage shell by limiting the rotation of the ratchet; a ratchet 3 that drives rotation in one direction; an energy storage shell 4 that is pulled and rotated by an action rope 02 and connected to the energy storage component 5; and the energy storage component 5 that stores and releases energy.

[0074] To ensure the realization of the entire structure, especially to achieve energy storage through a rotating connection method, a smaller space can be occupied. The fixed shell 1 is fixedly connected to the center of a fixed shaft 6. One end of the energy storage component 5 is fixedly connected to the outer wall of the fixed shaft 6. The energy storage component 5 is located inside the energy storage shell 4, and the other end of the energy storage component 5 is fixedly connected to the outer wall of the energy storage shell 4.

[0075] The energy storage shell 4 is fitted on the outer wall of the fixed shaft 6. The ratchet 3 is driven and connected to the outer wall of the energy storage shell 4 by a pawl 7. A cam ring 2 is fixedly connected to one side of the ratchet 3.

[0076] A limiting groove 8 is provided on the outer wall of the cam ring 2, and the limiting groove 8 is connected to the inner wall of the fixed shell 1 through a one-way limiting member 9.

[0077] To realize the human body's STS (Self-Supporting Tactics) movement process, the limiting groove 8 includes: a first limiting groove 81, a second limiting groove 82, a third limiting groove 83, and a fourth limiting groove 84. Based on the analysis of the human body's STS movement process, the angle of the cam ring 2 during each movement is designed. The settings are as follows: the first limiting groove 81 is at the 12 o'clock position (vertically above the center) of the cam ring 2; the second limiting groove 82 is at the midpoint between the 12 o'clock and 9 o'clock positions of the cam ring 2 (where the first limiting groove 81 is rotated 45° counterclockwise); the third limiting groove 83 is at the 6 o'clock position (vertically below the center) of the cam ring 2; and the fourth limiting groove 84 is at the midpoint between the 3 o'clock and 6 o'clock positions of the cam ring 2 (where the third limiting groove 83 is rotated 45° counterclockwise).

[0078] To facilitate the connection of the energy storage shell, the energy storage shell 4 includes: a shell bottom 41, a shell wall 42 and a shell cover 43. The shell bottom 41 is sleeved on the outer wall of the fixed shaft 6, and the edge of the shell bottom 41 is fixedly connected to the annular shell wall 42. The other end of the shell wall 42 is fixedly connected to the shell cover 43.

[0079] To limit the rotation angle of the energy storage shell 4, it can only rotate at a set angle, ensuring that the energy storage shell 4 is in a locked state at the set angle. A limiting protrusion 44 is provided on the other side of the shell cover 43.

[0080] To push the limiting slider 13, so that when the cam ring 2 rotates to a set angle, the limiting slider 13 is pushed, thereby cooperating with the limiting protrusion 44 to lock the energy storage shell 4. The inner wall of the cam ring 2 is provided with a first one-way protrusion 21 and a second one-way protrusion 22. The first one-way protrusion 21 is opened in the second limiting groove 82 corresponding to the inner wall of the cam ring 2, and the second one-way protrusion 22 is opened in the fourth limiting groove 84 corresponding to the inner wall of the cam ring 2. That is to say, when the first one-way protrusion 21 or the second one-way protrusion 22 rotates to the lower side of the limiting slider 13, it pushes the limiting slider 13 to slide upward. The limiting slider 13 cooperates with the limiting protrusion 44 to lock the energy storage shell 4 and prevent it from rotating.

[0081] The fixed housing 1 includes a connecting housing 11 and an end cap 12. The connecting housing 11 is fixedly connected to the center of the fixed shaft 6, and the open end of the connecting housing 11 is sealed and fixed by the end cap 12.

[0082] To limit the sliding direction of the limiting slider 13 and restrict the function of the limiting protrusion 44 in other directions, the end cap 12 is slidably connected to the limiting slider 13 protruding from the inner wall surface. The bottom of the limiting slider 13 is pushed and slid by the first one-way protrusion 21 and the second one-way protrusion 22. When the first one-way protrusion or the second one-way protrusion pushes up the limiting slider 13, it limits the limiting protrusion 44. That is, only in these two positions can the limiting slider 13 limit the limiting protrusion 44, thereby limiting the rotation of the energy storage shell 4.

[0083] It should be noted that in the initial state (when the human body is upright with the torso and thighs in a straight line), the limiting protrusion 44 is in the nine o'clock position.

[0084] To limit the movement of the pawl 7 and ensure its engagement with the ratchet 3, a limiting wall 71 protrudes from the outer wall of the housing 42. A compression spring groove 72 is formed between two adjacent limiting walls 71. A compression spring rod 73 is connected to the center of the compression spring groove 72. A compression spring 74 is sleeved on the outer wall of the compression spring rod 73. The lower end of the compression spring 74 supports and connects to the pawl 7. This ensures the limiting of the pawl 7 and also allows the pawl 7 to slide along the direction of the limiting wall 71.

[0085] To ensure the stable sliding action of the pawl 7, the pawl 7 includes: a pawl body 75 with a unidirectional driving action and a guide protrusion 76 with a guiding action. The pawl body 75 is provided with guide protrusions 76 on both sides along the circumferential direction of the shell wall 42.

[0086] To accommodate the structure of the guide protrusion 76 and ensure the operation of the pawl 7, a guide groove 77 is provided in the middle of the limiting wall 71, into which the guide protrusion 76 is inserted.

[0087] Preferably, the energy storage element 5 is a spiral spring, with one end of the spiral spring fixedly connected to the fixed shaft 6 and the other end of the spiral spring fixedly connected to the shell wall 42.

[0088] To assist the energy storage component 5 in storing energy and improve the energy storage intensity, it also includes: a torsion spring 10, with a connecting protrusion 45 protruding from the outer wall of the shell 42; one end of the torsion spring 10 is limited and connected to the connecting protrusion 45, and the other end of the torsion spring 10 is inserted into the inner wall of the end cover 12.

[0089] In order to provide a sliding direction for the limiting slider 13 and ensure its limiting function, the end cap 12 is provided with a slide rail 14 protruding from the inner wall. The limiting slider 13 is slidably connected to the slide rail 14, and the lower end of the limiting slider 13 extends out of the slide rail 14.

[0090] To facilitate the fixed connection of the torsion spring 10, the end cap 12 has a pivot hole 15 in the center (the end of the fixed shaft 6 extends into the pivot hole 15), a torsion spring groove 16 is formed around the pivot hole 15, and a connecting groove 17 is formed in the tangential direction of the torsion spring groove 16. The torsion spring 10 is sleeved inside the torsion spring groove 16, and one end of the torsion spring 10 extends into the connecting groove 17 for fixation.

[0091] To improve the strength of the limiting protrusion 44 and ensure the limiting strength of the energy storage shell 4, the limiting protrusion 44 includes a limiting ring 441 and a limiting ridge 442. The limiting ring 441 protrudes at the central opening of the shell cover 43, and the limiting ridge 442 protrudes from the outer wall of the limiting ring 441. The limiting ridge 442 and the shell cover 43 are fixedly connected.

[0092] To ensure the limiting effect of the one-way limiting component 9 on the cam ring 2, a positioning groove 18 is provided on the inner wall of the connecting shell 11, and a positioning rod 19 protrudes from the center of the positioning groove 18;

[0093] In conjunction with the positioning groove 18, the one-way limiting member 9 includes: a positioning block 91 extending into the limiting groove 8 and a positioning spring 92 pushing the positioning block 94. The positioning spring 92 is sleeved on the outer wall of the positioning rod 19, and the upper end of the positioning spring 92 supports the positioning block 91. The upper side of the positioning block 91 is limitedly connected to the first limiting groove 81, the second limiting groove 82, the third limiting groove 83, or the fourth limiting groove 84. According to the STS human body movement process, the one-way limiting member 9 can limit the limiting groove 8 at a set angle.

[0094] In order to connect with the thigh fixing component 04 and ensure the realization of the energy storage action, it also includes: an action rope 02. A winding wheel 46 is provided on the side of the bottom of the shell 41 away from the shell wall 42. The action rope 02 passes through the fixing shell 1 and is wound around the outer wall of the winding wheel 46.

[0095] The present invention also discloses an exoskeleton seat, including the energy storage device 01 described above, and further including: a waist fixation member 03 that is fixedly connected to the waist and a thigh fixation member 04 that is fixedly connected to the thigh. The energy storage device 01 is fixedly connected to the outer wall of the waist fixation member 03, and the action rope 02 of the energy storage device 01 extends out of the fixing shell 1 and is fixedly connected to the thigh fixation member 03.

[0096] To further realize the function of the seat, the exoskeleton seat also includes: a lower leg fixation piece 05, and a thigh fixation piece 04 hinged to the upper side of the lower leg fixation piece 05.

[0097] like Figures 16 to 17As shown, the first stage is the bending motion of the human body. The change in hip joint angle stretches the rope 02, which pulls the winding wheel 46 of the energy storage shell 4 to rotate counterclockwise with the assistance of the bearing. The compressed spiral spring (energy storage element 5) stores mechanical energy. The protrusion on the outer wall of the energy storage shell 4 pushes one end of the torsion spring 10 torsion arm. The other end of the torsion spring 10 torsion arm is fixed by the connecting groove 17 of the end cover 12 of the fixed shell 1. The torsion spring 10 stores part of the mechanical energy. At the same time, the compression spring 74 and the pawl 7 located in the guide rail below the energy storage shell 4 rotate together with the energy storage shell 4. The pawl 7 pushes the ratchet 3 to rotate counterclockwise. The cam ring 2 rotates 135° with the ratchet 3. Initially, the pawl 7 of the cam ring 2 is positioned directly below. At this time, the positioning spring 92, which has been compressed inside the fixed housing 1, is released, and the positioning block 91 is pushed out, engaging with the second limiting groove 82 of the cam ring 2. The sound of engagement is fed back to the user. At this time, the limiting slider 13 is pushed up by the first one-way boss 21 inside the cam ring 2. At this point, the angle between the human torso and thigh is 45°, the first stage ends, and the energy storage device is in the following state: Figure 17 As shown.

[0098] The second stage is the recovery phase of the human torso (the process of sitting down from a bent-over to an upright posture). The torsion spring 10 and energy storage unit 5 release some of their stored mechanical energy, causing the energy storage unit 5 to rotate clockwise, releasing a portion of the energy from the action rope 02. The ratchet 3 and cam ring 2 remain stationary. When the energy storage shell 4 rotates 45°, the limiting protrusion 44 on the surface of the end cap 12 is blocked by the limiting slider 13, and the device is locked. The human torso is in a 90° vertical position, the second stage ends, and the energy storage device is in the following state: Figure 18 As shown, the exoskeleton seat is as follows Figure 20 As shown, the person is in a sitting position.

[0099] The third stage is the bending motion before standing up. The hip joint rotates forward, pulling the rope 02 to rotate the energy storage shell counter-clockwise. The pawl 7 on the outer wall of the energy storage shell 4 rotates with the energy storage shell 4, pushing the ratchet 3 to rotate counter-clockwise. The cam ring 2 rotates with the ratchet 3. After rotating 45°, the cam ring 2, originally located in the first groove 81, is now at its lowest position. The positioning spring 92 is released, and the positioning block 91 is pushed out, engaging with the first groove 81. The sound of engagement is fed back to the user. At this time, the first protrusion 21 and the second protrusion 22 inside the cam ring 2 are not interacting with the limiting slider 13. The limiting slider 11 slides down under gravity, releasing the restriction on the limiting protrusion 44. The third stage ends, and the energy storage device... Figure 19 As shown.

[0100] The fourth stage is the transition from a bent-over state to an upright state. When the body straightens, the elastic potential energy stored in the torsion spring 10 and energy storage component 5 is released, causing the energy storage shell 4 to rotate clockwise. The action rope 02 is pulled out, providing tension for the body to straighten. Since the ratchet 3 is a one-way ratchet, it and its related components remain stationary while the energy storage shell rotates, until the body is upright. Figure 16 As shown.

[0101] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention.

Claims

1. An energy storage device, characterized in that, include: Fixed housing (1), cam ring (2), ratchet (3), energy storage housing (4) and energy storage component (5); The fixed shell (1) is fixedly connected to a fixed shaft (6) at its center. One end of the energy storage component (5) is fixedly connected to the outer wall of the fixed shaft (6). The energy storage component (5) is disposed inside the energy storage shell (4), and the other end of the energy storage component (5) is fixedly connected to the inner wall of the energy storage shell (4). The energy storage shell (4) is sleeved on the outer wall of the fixed shaft (6), and the ratchet (3) is driven and connected to the outer wall of the energy storage shell (4) by a pawl (7). The cam ring (2) is fixedly connected to one side of the ratchet (3). The outer wall of the cam ring (2) is provided with a limiting groove (8), and the limiting groove (8) is connected to the inner wall of the fixed shell (1) through a one-way limiting member (9); The limiting groove (8) includes: a first limiting groove (81), a second limiting groove (82), a third limiting groove (83) and a fourth limiting groove (84). The first limiting groove (81) is located at the twelve o'clock position of the cam ring (2), the second limiting groove (82) is located at the midpoint between the twelve o'clock and nine o'clock positions of the cam ring (2), the third limiting groove (83) is located at the six o'clock position of the cam ring (2), and the fourth limiting groove (84) is located at the midpoint between the three o'clock and six o'clock positions of the cam ring (2). The energy storage shell (4) includes: a shell bottom (41), a shell wall (42) and a shell cover (43). The shell bottom (41) is sleeved on the outer wall of the fixed shaft (6). The edge of the shell bottom (41) is fixedly connected to the annular shell wall (42), and the other end of the shell wall (42) is fixedly connected to the shell cover (43). The other side of the shell cover (43) is provided with a limiting ridge (44). The inner wall of the cam ring (2) is provided with a first one-way boss (21) and a second one-way boss (22). The first one-way boss (21) is opened in the second limiting groove (82) corresponding to the inner wall of the cam ring (2), and the second one-way boss (22) is protruding in the fourth limiting groove (84) corresponding to the inner wall of the cam ring (2). The fixed shell (1) includes a connecting shell (11) and an end cap (12). The connecting shell (11) is fixedly connected to the fixed shaft (6) at its center, and the open end of the connecting shell (11) is sealed and fixed by the end cap (12). The end cap (12) is slidably connected to the inner wall surface of the limit slider (13). The bottom of the limit slider (13) is pushed and slid by the first one-way boss (21) and the second one-way boss (22). The first one-way boss (21) or the second one-way boss (22) pushes up the limit slider (13) to limit the limit protrusion (44). The outer wall of the shell wall (42) is provided with a limiting wall (71), and a compression spring groove (72) is provided between two adjacent limiting walls (71). A compression spring rod (73) is connected to the center of the compression spring groove (72), and a compression spring (74) is sleeved on the outer wall of the compression spring rod (73). The lower end of the compression spring (74) is supported and connected to a pawl (7). The pawl (7) includes: a pawl body (75) and a guide protrusion (76), wherein the pawl body (75) is provided with the guide protrusion (76) on both sides along the circumferential direction of the shell wall (42); The limiting wall (71) has a guide groove (77) in the middle, and the guide protrusion (76) is inserted into the guide groove (77); It also includes: a working rope (02), and a winding wheel (46) is provided on the side of the bottom of the shell (41) away from the shell wall (42). The working rope (02) passes through the fixed shell (1) and is wound around the outer wall of the winding wheel (46).

2. The energy storage device according to claim 1, characterized in that, Also includes: A torsion spring (10) is provided with a connecting protrusion (45) on the outer wall of the shell wall (42); one end of the torsion spring (10) is limited and connected to the connecting protrusion (45), and the other end of the torsion spring (10) is inserted into the inner wall of the end cap (12).

3. The energy storage device according to claim 2, characterized in that, The end cap (12) is provided with a slide rail (14) protruding from the inner wall. The limiting slider (13) is slidably connected inside the slide rail (14), and the lower end of the limiting slider (13) slides out of the slide rail (14). The end cap (12) has a pivot hole (15) at its center. A torsion spring groove (16) is formed around the pivot hole (15). A connecting groove (17) is formed in the tangential direction of the torsion spring groove (16). The torsion spring (10) is sleeved inside the torsion spring groove (16), and one end of the torsion spring (10) extends into the connecting groove (17) for fixation.

4. The energy storage device according to claim 1, characterized in that, The limiting protrusion (44) includes a limiting ring (441) and a limiting ridge (442). The limiting ring (441) protrudes from the center opening of the shell cover (43), and the limiting ridge (442) protrudes from the outer wall of the limiting ring (441). The limiting ridge (442) and the shell cover (43) are fixedly connected.

5. The energy storage device according to claim 1, characterized in that, The inner wall of the connecting shell (11) is provided with a positioning groove (18), and a positioning rod (19) is protruding from the center of the positioning groove (18). The one-way limiting component (9) includes: a positioning block (91) and a positioning spring (92). The positioning spring (92) is sleeved on the outer wall of the positioning rod (19). The upper end of the positioning spring (92) supports the positioning block (91). The upper side of the positioning block (91) is limited and connected to the first limiting groove (81), the second limiting groove (82), the third limiting groove (83), or the fourth limiting groove (84).

6. An exoskeleton seat, characterized in that, The energy storage device (01) according to any one of claims 1-5 further includes: a waist fixation member (03) and a thigh fixation member (04), wherein the outer wall of the waist fixation member (03) is fixedly connected to the energy storage device (01), and the action rope (02) of the energy storage device (01) extends out of the fixing shell (1) and is fixedly connected to the thigh fixation member (04). It also includes: a calf fixation member (05), the upper side of which is hinged to the thigh fixation member (04).

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